초록 ▼

A force feedback control system for a backhoe includes a single grip articulated control arm having members and joints therebetween analogous to the members and joints of an articulated backhoe arm connecting an excavation bucket to a backhoe frame. A bilateral closed loop control circuit compares s

A force feedback control system for a backhoe includes a single grip articulated control arm having members and joints therebetween analogous to the members and joints of an articulated backhoe arm connecting an excavation bucket to a backhoe frame. A bilateral closed loop control circuit compares slave position signals from output joint position sensors associated with the backhoe arm joints with corresponding master position signals from input joint sensors associated with the control arm joints and provides command signals to actuators associated with the backhoe joints to move them so that differences in corresponding master and slave position signals are minimized. Backhoe joint load sensors provide load signals indicating resistance to movement of the associated backhoe joints, and the control circuit generates force feedback signals to drive feedback motors associated with the control arm joints to apply toruqes thereto to reflect the resistance to movement of the associated backhoe joints.

대표청구항 ▼

A force reflecting control system for an earthworking implement including an implement frame with an earthworking tool articulated thereto and a tool actuator connected between said implement frame and said tool, said system comprising: (a) an operator input device including an operator frame with a

A force reflecting control system for an earthworking implement including an implement frame with an earthworking tool articulated thereto and a tool actuator connected between said implement frame and said tool, said system comprising: (a) an operator input device including an operator frame with an operator control element articulated thereto; (b) an operator position sensor coupled between said operator frame and said element and providing an element position signal; (c) a feedback motor connected between said operator frame and said element and operable to apply a counter articulation force between said operator frame and said element; (d) a tool position sensor adapted for operative coupling between an earthworking implement frame and an earthworking tool articulated thereto, said tool position sensor providing a tool position signal; (e) a tool load sensor adapted for operative coupling to a tool actuator connected between said implement frame and said tool and providing a load signal having a parameter indicative of a resistance to articulation of said tool relative to said implement frame upon activation of said tool actuator; (f) control means having said element position sensor, said feedback motor, said tool position sensor, and said tool load sensor coupled thereto and adapted for coupling of said tool actuator thereto; (g) said control means activating said tool actuator to urge said tool to articulate said tool relative to said implement frame in substantial synchronism with an proportion to an articulation of said operator element relative to said operator frame; and (h) said control means activating said feedback motor to apply said counter articulation force between said element and said operator frame in proportion to said parameter of said load signal to thereby reflect to said operator element said resistance to articulation of said tool relative to said implement frame.